EP1504430B1 - System und verfahren zum inferrieren einer elektronischen wiedergabe einer umgebung - Google Patents

System und verfahren zum inferrieren einer elektronischen wiedergabe einer umgebung Download PDF

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Publication number
EP1504430B1
EP1504430B1 EP03721985A EP03721985A EP1504430B1 EP 1504430 B1 EP1504430 B1 EP 1504430B1 EP 03721985 A EP03721985 A EP 03721985A EP 03721985 A EP03721985 A EP 03721985A EP 1504430 B1 EP1504430 B1 EP 1504430B1
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European Patent Office
Prior art keywords
environment
devices
location
following
determining
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Expired - Lifetime
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EP03721985A
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English (en)
French (fr)
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EP1504430A1 (de
EP1504430A4 (de
Inventor
Matthew R. Perkins
Robert J. O'dea
Mark J. Johnson
Neal K. Patwari
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Motorola Solutions Inc
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Motorola Inc
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Publication of EP1504430A4 publication Critical patent/EP1504430A4/de
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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/12—Alarms for ensuring the safety of persons responsive to undesired emission of substances, e.g. pollution alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
    • G08B3/1008—Personal calling arrangements or devices, i.e. paging systems
    • G08B3/1016—Personal calling arrangements or devices, i.e. paging systems using wireless transmission
    • G08B3/1083—Pager locating systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/001—Transmission of position information to remote stations
    • G01S2205/002—Transmission of position information to remote stations for traffic control, mobile tracking, guidance, surveillance or anti-collision

Definitions

  • the present invention relates generally to a system and method for inferring an electronic rendering of an environment.
  • Use cases for in-building location systems are generally envisioned in conjunction with a pre-installed infrastructure for the location system, as well as detailed building plans allowing location information to be correlated with the layout of the building or vicinity of the incident.
  • this information is unavailable.
  • Firefighters, police, and military personnel for example, are often required to operate in environments that are uncharacterized at first contact.
  • Databases containing building floor plans are being built up in some urban areas, but floor plans can change frequently, and many incidents occur in older and abandoned structures for which this data is unavailable.
  • Military operations on foreign soil will often require operation in environments for which such data are unknown or intentionally withheld by an adversary.
  • Reference sites 150, 152, 154 are deployed around a building 110. These reference sites 150, 152, 154 may comprise a part of the infrastructure of a location system, or may simply be used as a reference, for example to initialize velocity models of portable inertial navigation system devices. While this example shows three such reference sites, the number of reference sites required for location will vary according to the location system technology and architecture.
  • the reference sites 150, 152, 154 would be ground-referenced (e.g., by determining their geocentric latitude and longitude), for example by using global positioning system location devices, and this ground reference would provide a reference to pre-existing ground-referenced maps of the buildings.
  • this ground reference would provide a reference to pre-existing ground-referenced maps of the buildings.
  • an accurate ground-referenced location or a ground-referenced map or floor plan of the building is unavailable.
  • the IC 100 is assumed to be carrying a location device that provides a location relative to the reference sites 150, 152, 154. This may be accomplished using techniques known in the art, including but not limited to ranging, angle of arrival, time difference of arrival, received signal strength, inertial navigation, or combinations thereof.
  • the device may be equipped with a manual control allowing the IC 100 to initiate or record a location estimate.
  • the IC 100 may enable the drawing on a display 160 of an outline 170 of the building 110 by connecting location estimates 171, 172, 173, 174, 175, 176 corresponding to the corners 111, 112, 113, 114, 115, 116. Since the location of the IC 100 is known relative to the reference sites 150, 152, 154, the outline 170 of the building 110 is also known relative to the reference sites 150, 152, 154 and may be used as a reference for any other location relative to the reference sites 150, 152, 154. Note that, according to the present invention, the characterization display of the locations of the reference sites 150, 152, 154 is not required; they simply provide a common reference for other locations.
  • a more sophisticated mapping solution is illustrated.
  • a first user enters the building (represented in the figure as a floor plan of the area 270) traveling along path 240, finding and entering room 272 through door 280, discovering door 281 on the opposite side, and finally arriving at location point 241.
  • a second user enters the building traveling along path 242, traveling up and around room 274, and finally arriving at location point 243.
  • a third user enters the building traveling along path 244 and immediately turns left, arriving at location point 245.
  • a fourth user enters the building traveling along path 246 attempting to retrace path 240, but finds that the aisle is no longer passable; the fourth user, traveling along path 246, goes around room 272, finds door 282, and exits the building, arriving finally at location point 247.
  • each user is equipped with location equipment similar to that described as being used by the IC 100. As such, their locations may be tracked on display 160, on which a building outline 170 may have been drawn as described previously.
  • the IC 100 would note that the location point 243 of the affected user is near the main entrance 283 where all the paths 240, 242, 244, 246 begin; however neither the IC 100 or the second user at location point 243 can be assured that there exists a direct exit path from the location 243 to the main entrance 283.
  • the display 160 may optionally indicate not only the location points 241, 243, 245, 247 of the users, but the location history representing the paths 240, 242, 244, 246 of those users. Noting that path 244 leads directly from the main entrance 283 to a point very close to the location point 243 of the second user, the IC 100 may infer that a direct path exists between the location point 243 and the main entrance 283. While FIG. 2, for clarity's sake, attempts to minimize overlap between the paths, in a real-life scenario the paths would overlap routinely, giving the IC 100 a greater certainty that there is no obstacle between the point 243 and the shortest exit path 244.
  • the first user at location point 241 is the one requiring evacuation.
  • the IC 100 would typically direct the first user at location point 241 to evacuate via door 283 without further help, as only the points 241, 243, 245, and 247 would be displayed. It would then be up to the first user to negotiate an exit route; if that user were not disoriented and remembered his entry path, an exit through door 280 and a reverse traversal of the entry path would seem the best option.
  • the historical data of path 246 captured by the present invention indicates that that the fourth user (now at location point 247) attempted to use that passage at a later time and found it impassable; indicating in advance that an alternative exit route must be used.
  • the IC 100 may now not only direct the first user at location point 241 to an alternate path, but can clearly infer the existence of an alternate exit through the door 282 used by the fourth user currently at location point 247, representing an escape route even shorter than the affected user's entry route.
  • FIG. 3 illustrates the use of imaging devices, such as those described in U.S. serial number 09/845,467, filed April 20, 2001 , titled “ Intra-Piconet Location Determination and Tomography", by Callaway et al. (attorney docket no. CM03372J), commonly owned-together with this application by Motorola, Inc.
  • a large number of devices are deployed.
  • the plurality of devices may be deployed into the environment via one of the following techniques: shooting the devices into the environment with a projectile device, sprinkling the devices into the environment with a hose, dropping the devices into the environment as the given area is traversed, and dropping the devices into the environment from overhead.
  • these devices are capable of characterizing a propagation environment.
  • Those of ordinary skill in the art will realize that this list of deployment techniques is not exhaustive. Although a single device may theoretically characterize the local propagation environment by detecting images of its own signal, the preferred embodiment measures propagation characteristics between a transmitting device and a receiving device.
  • serial number 09/845,467 referenced above describes how the two devices may estimate a range between themselves and generate a model of the detected obstructions relative to the devices based on their distance and the measured propagation effects; however, the present invention further enables the set of two or more devices involved in the propagation measurements to convey their results to a centralized or distributed model of the environment in terms of their location relative to reference devices.
  • the group of devices 345 may characterize the darkened obstacles 344, which are segments of the walls of the room 274 and the outer walls of the building.
  • the group of devices 341 may characterize the darkened obstacles 342, which are segments of the walls of the rooms 272, 276.
  • representations 372, 374, 376 of the rooms 272, 274, 276 may be constructed relative to the established building outline 170 and as such integrated into a coherent map of the environment as shown on display 160. This would serve to prevent collisions with obstacles in the vicinity.
  • the function of the multiplicity of propagation detection devices described above may be fulfilled by either a single device detecting the reflected images of its own signal, or by at least two devices receiving the images of each others' signals, provided that the devices occupy a statistically significant number of locations in the target area during an interval of time over which the features of the target area do not change significantly.
  • FIG. 4 a further extension of the system is illustrated in which other environmental parameters are integrated into the system database.
  • temperature is used as an example of a relevant environmental parameter due to its simplicity and ease of representation.
  • FIG. 4 illustrates the same attack scenario described above, but with periodic temperature readings represented by bars such as those labeled in the 490 series. The temperature readings are associated with the locations of the sensors at the time the readings were taken, and may represent results from different sensors or from the same sensor at different times. Longer bars represent higher temperatures.
  • the readings corresponding to the location estimates 452, 454, 458 indicate higher temperature readings 492, 494, 498 than those from other devices in area 270 which would indicate that a heat source is located nearer to the northeast corner of room 274, represented by the rendering 374 on the display 160. Further support for this estimate comes from the temperature reading 491 from the device at location 451 that is located inside room 374 and displaying the highest temperatures of any sensing device in the area 270. It may be reasonably inferred based on the correlated location data and imaging data that the heat source is inside the room 274 near the northeast corner.
  • the temperature readings 497, 498, 499 that were obtained at a substantially later time than the temperature readings 492, 495 respectively, which were obtained in substantially the same locations but at a substantially earlier time.
  • the difference between the earlier temperature readings 492, 495 and the later temperature readings 497, 498, 499 respectively may be used to infer the rate and direction of progress of the fire.
  • the measurements which may benefit from the location correlation techniques described herein are hardly limited to the imaging and temperature data described above, but may include such data as: detection of hazardous materials, explosives, volatiles, marker chemicals, or other chemical data; measurements of humidity, barometric pressure, levels of oxygen, carbon monoxide, carbon dioxide, radon, and other atmospheric data; levels of oxygen, carbon monoxide, carbon dioxide, radon, and other gases in the air; detection of specific materials (e.g., iron, metal, gunpowder, etc.); measurement of mechanical vibration, seismic disturbance, data from actively initiated sounding activities, and other motion; detection of extraneous vital signs indicating presence of a victim or adversary; detection or interpretation of electromagnetic and acoustic signals; readings of an associated user's vital signs and equipment status (e.g., to correlate remaining survivable time with known exit routes or to identify areas of stress-inducing environmental effects not detected by other equipment); and others far too numerous to mention herein.
  • specific materials e.g., iron, metal, gunpow
  • a flowchart illustrates the operation of the present invention within a network established in step 500, the network including devices such as the location/sensing devices carried by the IC 100 and by the other users traveling the paths 240, 242, 244, 246 and any others deployed on the scene, as well as the unit associated with the display 160, a centralized database, and a central processing unit associated with that database. These functions may be distributed or combined on a single device.
  • a set of environmental characteristics may be determined 504, for example the presence and/or location of objects or obstacles in the environment.
  • a central processor creates a rendering (i.e., sketch, map, etc.) of the objects in the environment; since the transmitting and receiving device are known and the distance in which the object is reflecting signals, the position of the object can be estimated.
  • the rendering is described herein as a graphical display of the results; however, the actual rendering comprises the association of objects or environmental conditions in the environment with estimated locations of the objects or environmental conditions.
  • the rendering may be expressed in a variety of forms, as long as it contains information about the environment that is associated with location estimates.
  • each wireless communication device determines a set of parameters of the environment in which they are deployed 506.
  • each wireless communication device is equipped with at least one sensor.
  • the type of sensor used is dependent on the given application. For example, in the fire ground environment, the sensor may measure temperature, moisture, toxins, humidity, motion, or the like. Once the sensor gathers its data from the environment (e.g., location of the "hot" spots/danger area, or the like), it transmits the data directly or indirectly to a centralized database.
  • a central processing unit with access to the centralized database gathers the various types of information received from the plurality of devices (e.g., locations of the devices 502, characteristics of the environment 504, and attributes of the environment 506) 508.
  • the central processing unit applies relative location/distance techniques and mapping algorithms, as known in the art, and creates a rendering 510 of the environment on the display 160 with the various types of information plotted on the rendering. Once the various types of information are combined, the rendering of the environment with the various types of information plotted on the display 160 which may comprise a monitor, heads-up display, personal digital assistant, or the like.
  • the central processing unit continues to gather the various types of information from the other devices and update the rendering of the environment accordingly 512 until the operation is terminated.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Electromagnetism (AREA)
  • Alarm Systems (AREA)
  • Image Generation (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)

Claims (8)

  1. System zur Ableitung einer elektronischen Wiedergabe einer Umgebung, welches Folgendes aufweist:
    eine Vielzahl von Vorrichtungen (341, 345), deren Standorte abgeschätzt werden, und wobei jede Vorrichtung (341, 345) in der Lage ist, mindestens eins des Folgenden auszuführen:
    Bestimmen eines Umgebungsparameters der Umgebung und Bestimmen des Standorts eines Objekts (342, 344) in der Umgebung, bei dem es sich nicht um die Vielzahl von Vorrichtungen handelt, wobei der Standort durch mindestens eine aus der Vielzahl von Vorrichtungen (341, 345) bezüglich des Standorts von mindestens einer aus der Vielzahl von Vorrichtungen (341, 345) durch Festelegen einer Ausbreitungsumgebung bestimmt wird; und
    eine Verarbeitungsvorrichtung, wobei die Verarbeitungsvorrichtung von der Vielzahl von Vorrichtungen (341, 345) festgestellte Informationen erfassst, wobei die Informationen den festgestellten Standort von mindestens einem Objekt in der Umgebung einschließen, und die elektronische Wiedergabe der Umgebung basierend auf den erfassten Informationen ableitet.
  2. System nach Anspruch 1, dadurch gekennzeichnet, dass die Verarbeitungsvorrichtung die elektronische Wiedergabe auf mindestens einer der folgenden Anzeigen (160) abbildet: ein Head-updisplay, ein Monitor, ein persönlicher digitaler Assistent und ein Handgerät.
  3. System nach Anspruch 1, dadurch gekennzeichnet, dass der Umgebungsparameter der Umgebung auf mindestens einem des Folgenden basiert: Temperatur, Feuchtigkeit, Gas, Feuer, Kohlenwasserstoff, Luftfeuchtigkeit, Viren und Bewegung.
  4. System nach Anspruch 1, dadurch gekennzeichnet, dass mindestens zwei aus der Vielzahl von Vorrichtungen (341, 345) mindestens ein Netzwerk bilden.
  5. System nach Anspruch 1, dadurch gekennzeichnet, dass mindestens eine Teilmenge aus der Vielzahl von Vorrichtungen (341, 345) mit Hilfe einer der folgenden Techniken in der Umgebung angewendet wird: Schießen der Vorrichtungen (341, 345) mit einer Projektilvorrichtung in die Umgebung, Sprühen der Vorrichtungen (341, 345) mit einem Schlauch in die Umgebung, Fallen lassen der Vorrichtungen (341, 345) in die Umgebung, wenn der gegebene Bereich durchlaufen wird, und Fallen lassen der Vorrichtungen (341, 345) von oben in die Umgebung.
  6. System nach Anspruch 1, dadurch gekennzeichnet, dass mindestens eine Vorrichtung (341, 345) die Entfernung zwischen sich selbst und mindestens einer benachbarten Vorrichtung periodisch bestimmt, und mindestens eins des Folgenden periodisch bestimmt:
    den Umgebungsparameter der Umgebung und den Standort eines Objekts in der Umgebung.
  7. Verfahren zur Ableitung einer elektronischen Wiedergabe einer Umgebung, welches die folgenden Schritte aufweist:
    Einsetzen einer Vielzahl von Vorrichtungen (341, 345) in die Umgebung, wobei mindestens einige der Vorrichtungen (341, 345) in der Lage sind, eine Entfernung zu einer benachbarten Vorrichtung (341, 345) zu bestimmen, und wobei jede Vorrichtung (341, 345) in der Lage ist, mindestens eine der folgenden Funktionen auszuführen:
    Bestimmen eines Umgebungsparameters der Umgebung und Bestimmen des Standorts eines Objekts (342, 344) in der Umgebung, bei dem es sich nicht um die Vielzahl von Vorrichtungen handelt, wobei der Standort durch die mindestens eine aus der Vielzahl von Vorrichtungen (341, 345) bezüglich des Standorts von mindestens einer aus der Vielzahl von Vorrichtungen (341, 345) durch Beschreiben einer Ausbreitungsumgebung bestimmt wird; und
    Ableiten der elektronischen Wiedergabe der Umgebung basierend auf mindestens einem des Folgenden:
    mindestens ein Umgebungsparameter der Umgebung und mindestens ein Standort eines Objekts (342, 344) in der Umgebung.
  8. Verfahren nach Anspruch 7, welches des Weiteren den Schritt der Ableitung einer Reihe von Eigenschaften der Umgebung baserend auf mindestens einem des Folgenden aufweist: mindestens ein Umgebungsparameter der Umgebung und mindestens ein Standort eines Objekts (342, 344) in der Umgebung.
EP03721985A 2002-05-14 2003-05-01 System und verfahren zum inferrieren einer elektronischen wiedergabe einer umgebung Expired - Lifetime EP1504430B1 (de)

Applications Claiming Priority (3)

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US145253 2002-05-14
US10/145,253 US7064660B2 (en) 2002-05-14 2002-05-14 System and method for inferring an electronic rendering of an environment
PCT/US2003/013611 WO2003098572A1 (en) 2002-05-14 2003-05-01 System and method for inferring an electronic rendering of an environment

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EP1504430A1 EP1504430A1 (de) 2005-02-09
EP1504430A4 EP1504430A4 (de) 2005-10-26
EP1504430B1 true EP1504430B1 (de) 2007-06-20

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US (1) US7064660B2 (de)
EP (1) EP1504430B1 (de)
CN (1) CN100407236C (de)
AT (1) ATE365357T1 (de)
AU (1) AU2003225266A1 (de)
DE (1) DE60314514T2 (de)
ES (1) ES2287471T3 (de)
PT (1) PT1504430E (de)
WO (1) WO2003098572A1 (de)

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AU2003225266A1 (en) 2003-12-02
WO2003098572A1 (en) 2003-11-27
US7064660B2 (en) 2006-06-20
ES2287471T3 (es) 2007-12-16
PT1504430E (pt) 2007-07-31
ATE365357T1 (de) 2007-07-15
CN1533559A (zh) 2004-09-29
DE60314514D1 (de) 2007-08-02
EP1504430A1 (de) 2005-02-09
CN100407236C (zh) 2008-07-30
DE60314514T2 (de) 2008-02-28
EP1504430A4 (de) 2005-10-26

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